UAV NAVIGATION METHOD Russian patent published in 2022 - IPC G01C21/00 B64C39/02 

FIELD: physics.

SUBSTANCE: invention relates to autonomous navigation of drones based on optical images of the earth's surface. Method for autonomous navigation of unmanned aerial vehicles consists in the fact that reference and working images are obtained using optoelectronic systems in infrared range. Reference images are prepared based on the terrain thermal model by solving the direct problem of radiative heat transfer taking into account the incident solar radiation flux density, air temperature and flight altitude for given areas of the flight path and corresponding periods of astronomical time. Working images are recorded during shooting in nadir using optoelectronic systems in infrared range. Obtained reference and working infrared images are subjected to threshold processing, as a result of which reference and working matrices of reference points (contours) of objects are formed. Method includes calculating and finding the maximum of the two-dimensional matrix of the cross-correlation function, and estimating the geographical position of the maximum of the cross-correlation function from the reference matrix of reference points (contours). This estimate of the position of the maximum of the cross-correlation function is used for autonomous navigation of unmanned aerial vehicles based on data of measured values of heading, roll, pitch and altitude of the unmanned aerial vehicle.

EFFECT: high accuracy of determining navigation parameters of an unmanned aerial vehicle under conditions of incorrect operation of a global satellite navigation system receiver.

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